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DYNAMICS DYNAMICS
Week 2 Week 2
Uniform Acceleration and Curvilinear Motion Uniform Acceleration
Uniform Acceleration Uniform Acceleration
When acceleration is constant, there are certain Velocity as a function of time.
equations that can be derived from the three kinematic Given
equations Constant acceleration (ac)
Initial velocity (v0)
We have
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Uniform Acceleration Uniform Acceleration
Position as a function of time Velocity as a function of position
Given Given
v = ds/dt = v = v0 at s = s0
Initial position = s0 at t = 0
Uniform Acceleration
Sample problem
DYNAMICS
Week 2
Curvilinear Motion
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Curvilinear Motion Curvilinear Motion
Basic Assumptions As with rectilinear motion, curvilinear motion can be
Motion along a curved path described through the following
Often described in two or more dimensions:Vector operations Position
more appropriate Displacement
Velocity
Acceleration
Curvilinear Motion Curvilinear Motion
Position Displacement
Say we have origin O Say that a particle moves ∆s along the curve in a time
We can designate the position as the distance at any time for interval ∆t.
point o, (denoted as R) as shown below By vector addition we could say that r` = r + ∆r
And as a consequence ∆r = r`-r
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Curvilinear Motion Curvilinear Motion
Average Velocity Instantaneous Velocity
During the time ∆t , the average velocity of the particle is Now if we have a small increment of time (Dt —› 0). The
change during this time is quantified as
And is called instantaneous velocity
Curvilinear Motion Curvilinear Motion
Instantaneous Velocity Instantaneous Velocity
How can we describe v (instantaneous velocity) Also we can say ∆r is almost equal to ∆s
a) Tangent to the curve? Thus we can also term the speed of the particle as
b) Perpendicular to the curve?
c) Equal to the curve?
• Why? Because ∆r has a very small length Note that this is measured along the arc length. ∆r or dr
has an angle relative to the cartesian plane chosen
∆r ∆r
R` R`
r r
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Curvilinear Motion Curvilinear Motion
Acceleration Instantaneous Acceleration
At each time instant the motion experiences a change in As with velocity, when ∆t approaches zero, the instantaneous
velocity. acceleration at any time instant is equal to.
The average velocity between two time instants (with disregard
for what happens in between) is
Curvilinear Motion
Instantaneous Acceleration
Through the previous equations we can also write
DYNAMICS
Week 2
Curvilinear Motion – Rectangular Components
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Curvilinear Motion: Rectangular Curvilinear Motion: Rectangular
Components Components
Often, it will be much simpler and easier if we express a Let us describe again curvilinear motion : rectangular
motion in terms of x, y, z coordinates. components through the following
Position
Displacement
Velocity
Acceleration
Curvilinear Motion: Rectangular Curvilinear Motion: Rectangular
Components Components
Position. Velocity.
Say we have a curved path s at point x, y,. As established, the derivative of position r equals the velocity
The location is defined by the position
vector.
Using rules of differentiation we can say the first term is equal to
Each of the x, y and z coordinates are a
function of time
Since vector i does not change with time. We can say that di/dt
= 0 hence. (applying also for d(yj)/dt)
At any time instant the magnitude of r is
Alternative notation for υ x and υ y
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Curvilinear Motion: Rectangular Curvilinear Motion: Rectangular
Components Components
Velocity. Acceleration
The magnitude of the velocity is found from As established before, derivative of velocity is acceleration
And a direction that is specified by the unit vector
Alternative notations for acceleration
Magnitude of acceleration is
Vector divided by magnitude
Using trigonometry, the angle of the direction given vx and vy
And direction is specified as
θ = atan (vy/vx)
Using trigonometry
θ = atan (ay/ax)
Curvilinear Motion: Rectangular Curvilinear Motion: Rectangular
Components Components
Sample Problem 1 Sample Problem 1 - Answer
Recall Chain Rule
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Curvilinear Motion: Rectangular
Components
Sample Problem 2
DYNAMICS
Week 2
The End. Thank you!
